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<a href="#nested-classes">类</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-static-methods">静态 Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
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<a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::on_nurbs::FittingCurve2d类 参考</div>  </div>
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<p>Fitting a 2D B-Spline curve to 2D point-clouds using point-distance-minimization Based on paper: TODO  
 <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="fitting__curve__2d_8h_source.html">fitting_curve_2d.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_fit_parameter.html">FitParameter</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter.html">Parameter</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters for fitting  <a href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter.html#details">更多...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:adfb734db6176e88adc595f49baf37042"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adfb734db6176e88adc595f49baf37042">FittingCurve2d</a> (int order, <a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data)</td></tr>
<tr class="memdesc:adfb734db6176e88adc595f49baf37042"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor initializing B-Spline curve using initNurbsCurve2D(...).  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adfb734db6176e88adc595f49baf37042">更多...</a><br /></td></tr>
<tr class="separator:adfb734db6176e88adc595f49baf37042"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3336ba8d5ca2ee9920399292a26e333e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a3336ba8d5ca2ee9920399292a26e333e">FittingCurve2d</a> (<a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data, const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nc)</td></tr>
<tr class="memdesc:a3336ba8d5ca2ee9920399292a26e333e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor initializing with the B-Spline curve given in argument 2.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a3336ba8d5ca2ee9920399292a26e333e">更多...</a><br /></td></tr>
<tr class="separator:a3336ba8d5ca2ee9920399292a26e333e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad8470c61e42011ea1d22c18355d8a0c6"><td class="memItemLeft" align="right" valign="top"><a id="ad8470c61e42011ea1d22c18355d8a0c6"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad8470c61e42011ea1d22c18355d8a0c6">refine</a> ()</td></tr>
<tr class="memdesc:ad8470c61e42011ea1d22c18355d8a0c6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refines curve by inserting a knot in the middle of each element. <br /></td></tr>
<tr class="separator:ad8470c61e42011ea1d22c18355d8a0c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5be105a17fc776b21510b29a668a1e23"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5be105a17fc776b21510b29a668a1e23">refine</a> (double xi)</td></tr>
<tr class="memdesc:a5be105a17fc776b21510b29a668a1e23"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refines curve by inserting a knot in the middle of the element belonging to xi.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5be105a17fc776b21510b29a668a1e23">更多...</a><br /></td></tr>
<tr class="separator:a5be105a17fc776b21510b29a668a1e23"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab54f8656a9a168aa37ae43ebcda3aa05"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ab54f8656a9a168aa37ae43ebcda3aa05">assemble</a> (const <a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter.html">Parameter</a> &amp;parameter)</td></tr>
<tr class="memdesc:ab54f8656a9a168aa37ae43ebcda3aa05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble the system of equations for fitting  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ab54f8656a9a168aa37ae43ebcda3aa05">更多...</a><br /></td></tr>
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<tr class="memitem:aa1a7335079e0003618decd9d5f40e9da"><td class="memItemLeft" align="right" valign="top"><a id="aa1a7335079e0003618decd9d5f40e9da"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>addControlPointConstraint</b> (int i, const Eigen::Vector2d &amp;f, double weight)</td></tr>
<tr class="separator:aa1a7335079e0003618decd9d5f40e9da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a2eed2ea867ee9d695f0376f79a14bd"><td class="memItemLeft" align="right" valign="top"><a id="a5a2eed2ea867ee9d695f0376f79a14bd"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5a2eed2ea867ee9d695f0376f79a14bd">solve</a> (double damp=1.0)</td></tr>
<tr class="memdesc:a5a2eed2ea867ee9d695f0376f79a14bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake), and updates B-Spline curve if a solution can be obtained. <br /></td></tr>
<tr class="separator:a5a2eed2ea867ee9d695f0376f79a14bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad349d9884482ff4a88994b2b95743228"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad349d9884482ff4a88994b2b95743228">updateCurve</a> (double damp)</td></tr>
<tr class="memdesc:ad349d9884482ff4a88994b2b95743228"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update curve according to the current system of equations.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad349d9884482ff4a88994b2b95743228">更多...</a><br /></td></tr>
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<tr class="memitem:a682feac9bf93d5dd95b5898a72fc46cd"><td class="memItemLeft" align="right" valign="top"><a id="a682feac9bf93d5dd95b5898a72fc46cd"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a682feac9bf93d5dd95b5898a72fc46cd">setQuiet</a> (bool val)</td></tr>
<tr class="memdesc:a682feac9bf93d5dd95b5898a72fc46cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable/Disable debug outputs in console. <br /></td></tr>
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<tr class="memitem:afdcd57434f6bdacfbdc7fb841af6b35c"><td class="memItemLeft" align="right" valign="top"><a id="afdcd57434f6bdacfbdc7fb841af6b35c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#afdcd57434f6bdacfbdc7fb841af6b35c">setInverseParams</a> (int max_steps=200, double accuracy=1e-6)</td></tr>
<tr class="memdesc:afdcd57434f6bdacfbdc7fb841af6b35c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set parameters for inverse mapping. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
静态 Public 成员函数</h2></td></tr>
<tr class="memitem:ab524e6df4fcf3f1a453440a941a67316"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ab524e6df4fcf3f1a453440a941a67316">findElement</a> (double xi, const std::vector&lt; double &gt; &amp;elements)</td></tr>
<tr class="memdesc:ab524e6df4fcf3f1a453440a941a67316"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the element in which the parameter xi lies.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ab524e6df4fcf3f1a453440a941a67316">更多...</a><br /></td></tr>
<tr class="separator:ab524e6df4fcf3f1a453440a941a67316"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a091955684db32cd7a0f8c54d1c96dc4f"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a091955684db32cd7a0f8c54d1c96dc4f">initNurbsCPS</a> (int order, const vector_vec2d &amp;cps)</td></tr>
<tr class="memdesc:a091955684db32cd7a0f8c54d1c96dc4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize a closed B-Spline curve given a list of control points.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a091955684db32cd7a0f8c54d1c96dc4f">更多...</a><br /></td></tr>
<tr class="separator:a091955684db32cd7a0f8c54d1c96dc4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3f8f7ae67babf10681158f9d9a87ef0"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad3f8f7ae67babf10681158f9d9a87ef0">initNurbsPCA</a> (int order, <a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data, int ncps=0)</td></tr>
<tr class="memdesc:ad3f8f7ae67babf10681158f9d9a87ef0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize a closed B-Spline curve using the bounding circle of the point-cloud.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad3f8f7ae67babf10681158f9d9a87ef0">更多...</a><br /></td></tr>
<tr class="separator:ad3f8f7ae67babf10681158f9d9a87ef0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af1de48c8d5f5bcf64adb44d1f77d5b5e"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#af1de48c8d5f5bcf64adb44d1f77d5b5e">reverse</a> (<a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;curve)</td></tr>
<tr class="memdesc:af1de48c8d5f5bcf64adb44d1f77d5b5e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reverse direction of rotation of a closed B-spline curve  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#af1de48c8d5f5bcf64adb44d1f77d5b5e">更多...</a><br /></td></tr>
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<tr class="memitem:a5078d5a05eb64d0d80bf736082c9613c"><td class="memItemLeft" align="right" valign="top"><a id="a5078d5a05eb64d0d80bf736082c9613c"></a>
static std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5078d5a05eb64d0d80bf736082c9613c">getElementVector</a> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs)</td></tr>
<tr class="memdesc:a5078d5a05eb64d0d80bf736082c9613c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the elements of a B-Spline curve. <br /></td></tr>
<tr class="separator:a5078d5a05eb64d0d80bf736082c9613c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb7fa65f7839c48b8bb31bf3b8b2fec5"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#afb7fa65f7839c48b8bb31bf3b8b2fec5">inverseMapping</a> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, const Eigen::Vector2d &amp;pt, const double &amp;hint, double &amp;error, Eigen::Vector2d &amp;p, Eigen::Vector2d &amp;t, double rScale, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</td></tr>
<tr class="memdesc:afb7fa65f7839c48b8bb31bf3b8b2fec5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline curve using Newtons method and point-distance (L2-, Euclidean norm).  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#afb7fa65f7839c48b8bb31bf3b8b2fec5">更多...</a><br /></td></tr>
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static double&#160;</td><td class="memItemRight" valign="bottom"><b>inverseMappingO2</b> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, const Eigen::Vector2d &amp;pt, double &amp;error, Eigen::Vector2d &amp;p, Eigen::Vector2d &amp;t)</td></tr>
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<tr class="memitem:adcd936c29131725771d8e6151b3516a4"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adcd936c29131725771d8e6151b3516a4">findClosestElementMidPoint</a> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, const Eigen::Vector2d &amp;pt)</td></tr>
<tr class="memdesc:adcd936c29131725771d8e6151b3516a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a point pt, the function finds the closest midpoint of the elements of the curve.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adcd936c29131725771d8e6151b3516a4">更多...</a><br /></td></tr>
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static double&#160;</td><td class="memItemRight" valign="bottom"><b>findClosestElementMidPoint</b> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, const Eigen::Vector2d &amp;pt, double hint)</td></tr>
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Public 属性</h2></td></tr>
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<a class="el" href="class_o_n___text_log.html">ON_TextLog</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_out</b></td></tr>
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<a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_nurbs</b></td></tr>
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<a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>m_data</b></td></tr>
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Protected 成员函数</h2></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ae118fa73ff38ff988fe9d06d0fde3faa">addPointConstraint</a> (const double &amp;param, const Eigen::Vector2d &amp;point, double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:ae118fa73ff38ff988fe9d06d0fde3faa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: point-to-curve distance (point-distance-minimization). <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adf3e66df77828296142d027e97fd97b9">addCageRegularisation</a> (double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:adf3e66df77828296142d027e97fd97b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: smoothness by control point regularisation. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a8d2cde74333657cc9222c9059ba14790">assembleInterior</a> (double wInt, double rScale, unsigned &amp;row)</td></tr>
<tr class="memdesc:a8d2cde74333657cc9222c9059ba14790"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble point-to-curve constraints. <br /></td></tr>
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<a class="el" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">NurbsSolve</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_solver</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>m_quiet</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>in_max_steps</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>in_accuracy</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Fitting a 2D B-Spline curve to 2D point-clouds using point-distance-minimization Based on paper: TODO </p>
<dl class="section author"><dt>作者</dt><dd>Thomas Mörwald </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="adfb734db6176e88adc595f49baf37042"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adfb734db6176e88adc595f49baf37042">&#9670;&nbsp;</a></span>FittingCurve2d() <span class="overload">[1/2]</span></h2>

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          <td class="memname">pcl::on_nurbs::FittingCurve2d::FittingCurve2d </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *&#160;</td>
          <td class="paramname"><em>data</em>&#160;</td>
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          <td>)</td>
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<p>Constructor initializing B-Spline curve using initNurbsCurve2D(...). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>the polynomial order of the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>pointer to the 2D point-cloud data to be fit. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a3336ba8d5ca2ee9920399292a26e333e">&#9670;&nbsp;</a></span>FittingCurve2d() <span class="overload">[2/2]</span></h2>

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          <td class="memname">pcl::on_nurbs::FittingCurve2d::FittingCurve2d </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>nc</em>&#160;</td>
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<p>Constructor initializing with the B-Spline curve given in argument 2. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>pointer to the 2D point-cloud data to be fit. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nc</td><td>B-Spline curve used for fitting. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="groupheader">成员函数说明</h2>
<a id="ab54f8656a9a168aa37ae43ebcda3aa05"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab54f8656a9a168aa37ae43ebcda3aa05">&#9670;&nbsp;</a></span>assemble()</h2>

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          <td class="memname">virtual void pcl::on_nurbs::FittingCurve2d::assemble </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter.html">Parameter</a> &amp;&#160;</td>
          <td class="paramname"><em>parameter</em></td><td>)</td>
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<p>Assemble the system of equations for fitting </p>
<ul>
<li>for large point-clouds this is time consuming.</li>
<li>should be done once before refinement to initialize the starting points for point inversion. </li>
</ul>

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<h2 class="memtitle"><span class="permalink"><a href="#adcd936c29131725771d8e6151b3516a4">&#9670;&nbsp;</a></span>findClosestElementMidPoint()</h2>

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          <td class="memname">static double pcl::on_nurbs::FittingCurve2d::findClosestElementMidPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
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          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>&#160;</td>
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<p>Given a point pt, the function finds the closest midpoint of the elements of the curve. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest midpoint of the elements will be computed. return closest midpoint in parametric domain. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ab524e6df4fcf3f1a453440a941a67316">&#9670;&nbsp;</a></span>findElement()</h2>

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          <td class="memname">static int pcl::on_nurbs::FittingCurve2d::findElement </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>xi</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>elements</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
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<p>Find the element in which the parameter xi lies. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">xi</td><td>value in parameter domain of the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">elements</td><td>the vector of elements of the curve. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>index of the element with respect to elements. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a091955684db32cd7a0f8c54d1c96dc4f">&#9670;&nbsp;</a></span>initNurbsCPS()</h2>

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          <td class="memname">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> pcl::on_nurbs::FittingCurve2d::initNurbsCPS </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const vector_vec2d &amp;&#160;</td>
          <td class="paramname"><em>cps</em>&#160;</td>
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<p>Initialize a closed B-Spline curve given a list of control points. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>polynomial order of the curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cps</td><td>sequence of control points. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>B-Spline curve. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ad3f8f7ae67babf10681158f9d9a87ef0">&#9670;&nbsp;</a></span>initNurbsPCA()</h2>

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          <td class="memname">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> pcl::on_nurbs::FittingCurve2d::initNurbsPCA </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>ncps</em> = <code>0</code>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Initialize a closed B-Spline curve using the bounding circle of the point-cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>polynomial order of the curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>2D point-cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">ncps</td><td>number of control points (if 0, minimum number of control points required are used) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>B-Spline curve. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#afb7fa65f7839c48b8bb31bf3b8b2fec5">&#9670;&nbsp;</a></span>inverseMapping()</h2>

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          <td class="memname">static double pcl::on_nurbs::FittingCurve2d::inverseMapping </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>hint</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>error</em>, </td>
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          <td></td>
          <td class="paramtype">Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>p</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>t</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>rScale</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>maxSteps</em> = <code>100</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>accuracy</em> = <code>1e-6</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>quiet</em> = <code>true</code>&#160;</td>
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          <td>)</td>
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<p>Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline curve using Newtons method and point-distance (L2-, Euclidean norm). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest point on the curve will be computed. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">hint</td><td>the starting point in parametric domain (warning: may lead to convergence at local minima). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">error</td><td>the distance between the point pt and p after convergence. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>closest point on curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">t</td><td>the tangent vector at point p. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">maxSteps</td><td>maximum number of iterations. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">accuracy</td><td>convergence criteria: if error is lower than accuracy the function returns </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>closest point on curve in parametric domain. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a5be105a17fc776b21510b29a668a1e23">&#9670;&nbsp;</a></span>refine()</h2>

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          <td class="memname">void pcl::on_nurbs::FittingCurve2d::refine </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>xi</em></td><td>)</td>
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<p>Refines curve by inserting a knot in the middle of the element belonging to xi. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">xi</td><td>parameter defining the element to be refined. </td></tr>
  </table>
  </dd>
</dl>

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<a id="af1de48c8d5f5bcf64adb44d1f77d5b5e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af1de48c8d5f5bcf64adb44d1f77d5b5e">&#9670;&nbsp;</a></span>reverse()</h2>

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          <td class="memname">static void pcl::on_nurbs::FittingCurve2d::reverse </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>curve</em></td><td>)</td>
          <td></td>
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<p>Reverse direction of rotation of a closed B-spline curve </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">curve</td><td>the curve to be reversed </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ad349d9884482ff4a88994b2b95743228">&#9670;&nbsp;</a></span>updateCurve()</h2>

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          <td class="memname">virtual double pcl::on_nurbs::FittingCurve2d::updateCurve </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>damp</em></td><td>)</td>
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<p>Update curve according to the current system of equations. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">damp</td><td>damping factor from one iteration to the other. </td></tr>
  </table>
  </dd>
</dl>

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<hr/>该类的文档由以下文件生成:<ul>
<li>surface/include/pcl/surface/on_nurbs/<a class="el" href="fitting__curve__2d_8h_source.html">fitting_curve_2d.h</a></li>
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